WO2018019807A1

WO2018019807A1 - Optical arrangement for a lidar system, lidar system, and working device

Info

Publication number: WO2018019807A1
Application number: PCT/EP2017/068715
Authority: WO
Inventors: Klaus Stoppel; Stefanie Mayer; Thomas FERSCH; Siegwart Bogatscher; Hans-Jochen Schwarz; Jan Sparbert; Annette Frederiksen; Reiner Schnitzer; Thorsten Balslink
Original assignee: Robert Bosch Gmbh
Priority date: 2016-07-29
Filing date: 2017-07-25
Publication date: 2018-02-01
Also published as: US20190178990A1; CN110140060B; DE102016213980A1; EP3491413A1; CN110140060A

Abstract

The invention relates to an optical arrangement (10) for a LIDAR system (1) for optical detection of a field of view (50), in particular for a working device, a vehicle, or the like, in which a receiver optics (30) and a transmitter optics (60) are (i) configured at least in the field of view with substantially coaxial optical axes and (ii) have a common deflection optics (62) and at the detector end a detector optics (35) is formed and has means for directing incident light directly via the deflection optics (62), in particular out of the field of view (50), onto a detector arrangement (20).

Description

Description title

Optical arrangement for a LiDAR system, LiDAR systems and

working device

State of the art

The present invention relates to an optical arrangement for a LiDAR system, a LiDAR system and a working device. The present invention relates in particular to an optical arrangement for a LiDAR system for the optical detection of a field of view, in particular for a

Working device, a vehicle or the like. Furthermore, the present invention relates to a LiDAR system for optically detecting a field of view as such and in particular for a working device, a vehicle or the like. Furthermore, a vehicle is provided by the present invention.

With the use of working devices, of vehicles and other machines and plants are increasingly operating assistance systems or

Sensor arrays used to detect the operating environment. In addition to radar-based systems or systems based on ultrasound, light-based detection systems are also increasingly used, e.g. so-called LiDAR systems (English: LiDAR: light detection and ranging).

In known LiDAR systems, there is a disadvantage in that coaxial arrangement for the separation of the beam paths of the transmitter optics and the receiver optics conventionally often beam splitters are used. These lead, on the basis of their functional principle, both in the transmission path, that is to say when emitting primary light, and in the reception path, that is to say during the transmission path

Capture secondary light from the field of view, attenuate radiation intensity and thereby reduce the sensitivity and accuracy of the detection process. Disclosure of the invention

The optical arrangement according to the invention with the features of

independent claim 1 has the advantage that on the

Using a beam attenuator attenuating the intensity of the radiation can be dispensed with, so that there is no loss of intensity in the

Detection process comes. This increases the sensitivity and accuracy of the detection process and is achieved according to the invention with the features of independent claim 1, that an optical arrangement for a LiDAR system for optically detecting a field of view is provided, in particular for a working device, a vehicle or the like, in which on the one hand a receiver optics and a transmitter optics are formed at least on the field of view (i) with substantially coaxial optical axes and (ii) have a common deflection optics and on the other hand, on the detector side a detector optics is formed and has means, directly on the deflection optics - in particular from the field of view - to direct incident light onto a detector array. The invention eliminates the

Necessity of a beam splitter because the detector provided

Detector optics has the ability and has the appropriate means, in direct cooperation with the deflection optics incident light, in particular from the field of view, on the deflection optics on the underlying

To direct detector array. The dependent claims show preferred developments of the invention.

In an advantageous development, additional optical components which may be subject to a corresponding loss are avoided in that the deflection optics is formed and has means for directing light from the field of view directly onto the detector optics.

A particularly easy to control optical arrangement results when, according to another embodiment of the invention

Arrangement the deflection optics with a one or two-dimensional controllable pivotable and / or swingable mirror, in particular micromirrors is formed. It is under a swinging mirror and a too To understand vibrations or swinging oscillatory movements excitable mirror

In another advantageous development of the optical arrangement according to the invention, it is provided that the mirror or micromirror is controllably pivotable and / or oscillatable (i) in a first angular range for irradiating primary light into the field of view and (ii) in a second

Angle range for directing secondary light from the field of view directly onto the detector optics.

A particularly compact design of the optical arrangement adjusts itself according to a preferred development when the detector optics in

immediate spatial proximity to a detector element of

Detector arrangement is formed.

It is provided according to another embodiment of the optical arrangement that the detector optics comprises or forms a lens, in particular in the form of a hemisphere or in the form of a combination of a vertical circular cylinder and a hemisphere on an end face of the circular cylinder, wherein the detector array or a sensor element of Detector arrangement is arranged on a page applied to a convex side of the hemisphere.

Particularly low losses occur in the optical arrangement according to the present invention when, according to another advantageous embodiment, the detector optics comprises or forms a material region embedding the detector arrangement or a detector element of the detector arrangement. In this case, loss-generating interfaces are particularly effectively avoided.

A particularly high degree of detection accuracy can be achieved if, according to a further embodiment of the optical arrangement according to the invention, the detector arrangement or a sensor element of the

Detector arrangement is disposed substantially at the focal point or substantially in a focal plane of the detector optics. For a fast and accurate response of a LiDAR system

Circumstances that require only small deflection for the underlying deflection optics conducive.

It is thus provided in a preferred embodiment of the optical arrangement according to the invention that the detector arrangement or a sensor element of the detector arrangement and a primary light-providing element, in particular a light source, in the immediate spatial

Are arranged adjacent to each other and / or in a plane in the

Substantially perpendicular to detector-side optical axes of the transmitter optics and / or the receiver optics are.

For a precise illumination of the field of view and a detection of light from the field of view, according to an advantageous embodiment of the

According to the optical arrangement according to the invention, an aperture optical system is provided, which is arranged upstream of the deflection optics and is designed to direct primary light from the deflection optics into the field of view and light from the field of view onto the deflection optics.

The present invention further relates to a LiDAR system for optically detecting a field of view, in particular for one or as part of a

Working device, a vehicle and the like, wherein according to the present invention, an optical arrangement according to the invention is formed and used.

According to another aspect of the present invention, there is also provided an operating device, in particular a vehicle or the like, which is formed with a LiDAR system according to the invention for optically detecting a field of view.

Brief description of the figures

Embodiments of the invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram schematically showing a

Embodiment of the optical according to the invention Arrangement in connection with an embodiment of a LiDAR system according to the invention shows.

FIG. 2 shows a schematic block diagram of another

Embodiment of a LiDAR system according to the invention using an alternative embodiment of the optical arrangement according to the invention.

FIGS. 4 to 5 show another embodiment of the optical arrangement according to the invention in a LiDAR system and its imaging properties.

Figures 6 to 8 show a schematic and sectional side view

Embodiments of the optical arrangement according to the invention with various possibilities of generating and providing primary light.

Figures 9 to 12 show a schematic and sectional side view of various detector optics and their imaging behavior, which can be used in embodiments of the optical arrangement according to the invention.

FIGS. 13 to 16 show graphs which are different

Illustrate imaging properties of embodiments of the optical arrangement according to the invention.

Preferred embodiments of the invention

Hereinafter, with reference to FIGS. 1 to 16

Embodiments of the invention described in detail. Identical and equivalent as well as equivalent or equivalent elements and components are designated by the same reference numerals. Not in every case of their appearance is the detailed description of the designated elements and

Components reproduced. The illustrated features and other properties can be isolated in any form from each other and combined with each other, without departing from the gist of the invention.

Figure 1 shows in the form of a schematic block diagram a

Embodiment of the LiDAR system 1 according to the invention using an embodiment of the optical arrangement 10 according to the invention.

The LiDAR system 1 according to FIG. 1 has a transmitter optics 60, which are emitted by a light source 65, e.g. in the form of a laser, and primary light 57 - possibly after passing through a beam shaping optics 66 - in a field of view 50 for detecting and / or investigation of an object 52 located there emits.

Furthermore, the LiDAR system 1 according to FIG. 1 has a receiver optics 30, which receives light and in particular reflected light from the object 52 in the field of view 50 as the secondary light 58 via a lens 34 as the primary optic and transmits secondary optics to a detector arrangement 20 via a detector optics 35.

The control of the light source 65 and the detector assembly 20 via control lines 42 and 41 by means of a control and evaluation unit 40th

In FIG. 1, the concepts of the common field of view deflection optics 32 and the detector-side detection optics 35 are shown schematically.

The deflection optics 62 as part of the primary optics 34, which can also be referred to as an objective and functions in conjunction with the transmitter optics 60 as an emitting projection objective, is designed to receive the primary light 57 and to direct it into the field of view 50 with the object 52.

In connection with the receiver optics 30, the common

View field-side deflection optics 62 with the detector optics 35 as secondary optics together so that the received from the field of view 50 secondary light 58 is directed in a direct manner and without the interposition of a beam splitter to the detector optics 35, so as to intervene without interposition of other optical components to the detector assembly 20 reach. The primary optics 34 acts in conjunction with the receiver optics 30 as a receiving projection lens.

Optionally and advantageously, the visual field-side provision of an aperture optics 70 for suitably outputting the primary light 57 and for receiving the secondary light 58 in bundling fashion.

The detector arrangement 20 may be formed with one or more sensor elements 22.

The optical arrangement 10 is designed for a LiDAR system 1 for the optical detection of a field of view 50, in particular for a working device, a vehicle or the like, and is formed with a transmitter optics 60 for emitting a transmission light signal in the field of view 50, a detector array 20 and a Receiver optics 30 for optically imaging the field of view 50 on the detector assembly 20th

The receiver optics 30 and the transmitter optics 60 are formed on the field of view side (i) with substantially coaxial optical axes and have a common deflection optics 62.

The receiver optics 30 has a secondary optics 35 on the detector side, which is embodied and comprises means for directing incident light onto the detector arrangement 20 via the deflecting optics 62 from the field of view 50.

In the optical arrangement 10, the transmitter optics 60 is generally formed and has means for emitting primary light 57 into the field of view 50.

Furthermore, in the optical arrangement 10, the receiver optics 30 are formed and have means for optically imaging the field of view 50 on the

Detector assembly 20.

FIG. 2 shows, in a manner similar to FIG. 1, another embodiment of a LiDAR system 1 using an alternative embodiment of the optical arrangement 10 according to the invention. The components provided in the embodiment according to FIG. 2 substantially correspond to the components shown in FIG. However, FIG. 2 emphasizes (a) the spatial proximity between the detector optics 35 as the secondary optics of the receiver optics 30 to the detector arrangement 20 and the sensor elements 22 on the one hand and (b) the immediate spatial ones

Neighborhood of the beam paths of the transmitter optics 60 and the receiver optics 30 and in particular the immediate spatial neighborhood of

Detector assembly 20 with the sensor elements 22 to the light source 65 as the primary light 57 providing element 67 on the other.

FIG. 3 shows a more concrete embodiment of a LiDAR system 1 according to the invention using an embodiment of the invention

According to the invention, this embodiment realizes the basic principle shown in FIGS. 1 and 2. There are the detector array 20 with a sensor element 22 together with a light source 65 or generally together with a primary light 57 providing element 67 in or on a common substrate 25, through which the detector plane 24 is defined.

In this case, the sensor element 22 and the element 57 providing the primary light 57 are arranged in the immediate spatial vicinity of one another. This has the consequence that the deflection optics 62 e.g. in the form of a controllably pivotable or oscillatable micromirror 63 only needs to be pivoted about immediately adjacent angular ranges and / or Wnkelbereiche low expansion, thereby applying the field of view 50 with the object 52 contained therein - optionally mediated by the aperture optics 70 - with primary light 57 and / or secondary light 58 from the field of view 50 to the detector assembly 20 to the sensor element 22 to judge.

For this purpose, the detector optics 35 has the shape of a lens 36 with a hemisphere segment 37 and a cylinder segment 38 with common

Symmetry axis 39 on. The hemisphere segment 37 is directly - e.g.

integral with material - at the side facing away from the Detektorabordnung 20

Front side or surface of the cylinder segment attached. The differently marked beams for the secondary light 58 correspond to different distances 71 between the aperture optics 70 and the object 52. In embodiments without aperture optics 70, the distance 71 between the object 52 in the field of view 50 and the deflection optics 62 is decisive.

In FIG. 3, the beam of the secondary light 58 denoted by the reference numeral 72-1 comes from a slightly distant object 52 of the field of view 50, whereas the beam of the secondary light 58 denoted by 72-3 comes from a further object 52 of the field of view 50. The secondary light 58 takes more time to negotiate a greater distance, in which the mirror 63 gives away the deflection optics by a larger angle. Thus, the beam 72-3 is more distracted than the beam to 72-1.

The deflection optics 62 and in particular their mirrors 63 have a first angular range 64-1, which serves to image the secondary light 58 from the field of view 50 onto the detector arrangement 20, and a second angle range

Angle range 64-2, which is the distribution of the primary light 57 from the primary light 57 providing element 67 into the field of view 50 into it. FIGS. 4 and 5 show diagrammatically the imaging conditions in a

Embodiment of a LiDAR system 1 with an embodiment of the optical arrangement 10 of Figure 3 with the distance dependence, for a one-dimensionally moving deflection optics 62 each on the right side and for a two-dimensionally moving deflection optics on the left side. Figure 4 is a simple plan view, Figure 5 is an exploded view.

FIGS. 4 and 5 show the travel of the secondary light 58 with respect to the lenses 36 and the detector arrangement 20 with thin sensor elements 22.

Shown are the location 74 of the laser aperture and the beam position 75 after bundling or collimating.

FIGS. 6 to 8 show different embodiments of the optical arrangement 10 according to the invention with a focus on the different realizations of generating the primary light 57. In the embodiment according to FIG. 6, the element 67 generating the primary light 57 is formed by a light source 65 itself, for example one

Laser light source, a laser diode or the like. In the embodiment according to FIG. 7, an external light source 65 is used which generates primary light 57 and directs it to a mirror element as element 67 providing primary light 57 in the substrate 25.

In the embodiment according to FIG. 8, this is the primary light 57

providing element 67, a through hole in the substrate 25, wherein the actual light source 65 is located on the detector assembly 20 facing away from or back.

FIGS. 9 to 12 schematically show imaging conditions

various embodiments of the optical according to the invention

Arrangement 10. Represented in each case are graphs on whose abscissa a specific distance measure and, depending thereon on the ordinate, the beam position of the secondary light 58 on sensor elements 22 of a

Detector assembly 20 are shown behind the detector optics 35.

Also indicated are respective markings for a short distance 72-1, an average distance 72-2 and a large distance 72-3 of the object 52 in the field of view 50. FIGS. 9 and 12 each schematically show a detector optics 35 with two

Lenses 36 and the prevailing imaging ratios.

FIGS. 10 and 11 show an arrangement with only one lens 36 for constructing the detector optics 35.

FIGS. 13 and 14 show, in the form of graphs, the relative light powers which occur in the case of detector optics with a lens 36 and with two lenses 36 which occur at the respective sensor element 22 as a function of the distance of the object 52.

Figures 15 and 16 respectively show the relative power at

Sensor element 22 of the detector assembly 20 as a function of the hole spacing, which is to be plotted on the abscissa, with coding for small distances 72-1, average distances 72-2 and large distances 72-3 from the object 52 in the field of view 50.

These and other features and characteristics of the present invention will be further elucidated with reference to the following statements:

Previous LiDAR architectures 1 often use coaxial arrangements of transmitter path 60 and receiver path 30. The transmitter itself consists e.g. from a modulated laser diode as the light source 65. In the simplest case, e.g. generates short pulses with high to very high peak power. The detector arrangement 29 has a single or a plurality of AP diodes (avalanche photo diode) as the sensor element 22. PIN diodes are also common. Silicon and

Germanium diodes are less expensive than compound semiconductor diodes (e.g., InGaAs), but allow less efficient detection of radiation with wavelengths greater than about 900 nm.

The coaxial arrangement conventionally often requires a beam splitter which deflects the laser power in different directions, for example in the ratio 1: 1 (50%). That is, the transmit beam penetrates optional optics and the beam splitter before being directed by a deflection unit 62 in the direction of field of view 50 or FOV (field of view), in which the distance, presence, or reflection properties of a suspected object 52 are measured should.

The direction of the object 52 as a target can be determined by the position of the deflection unit 62. Depending on the embodiment, a further optics is provided. The reflected beam from the object 52 follows as secondary light 58 the same path as the primary light 57 in the transmission path 60. This is the case when the deflection unit 62 has moved only negligibly little during the measurement. This condition is generally met.

The conventionally used beam splitter directs a portion of the receiving beam onto a receiver, possibly requiring further optics.

Aspects of the conventional constellation are: - Only the interesting section of the FOV 50 is projected onto the receiver. Through this preselection, the noise power on the

Receiver reduced by sources of interference (brake lights, headlights, sunlight).

- The deflector always directs the receive beam to the same location on the detector. As a result, u.U. the detector can be made very small (single diode) or a better receiving diode can be used (InGaAs).

- Through the beam splitter is a part of the transmission power in the housing

distracted rather than directed at the target. As a result, a higher transmission power must be provided for the transmitter. The deflected beam can disturb the receiver.

- The reception power is reduced by the beam splitter. This is a critical issue since the receive power i.d.R. is very low and further reduction is very detrimental to system performance.

In a system with a separated constellation, however, the determination of the target direction must be made either by the deflection unit or the receiver. If the appearance angle of the target is determined by the position of the deflection unit, a single, large photodiode, onto which the entire FOV is projected, is sufficient in principle. This approach has the disadvantage that a lot of ambient light is directed to the detector. Alternatively, the receiver may be constructed of a photodiode array or a photodiode array. This breaks up the FOV and exposes a single photodiode to only part of the FOV and thus only part of the ambient light.

Aspects of this procedure are:

- The optical reception and transmission paths can be realized independently, according to their individual requirements, no compromise is required.

- A very large receiver diode array is necessary. It therefore can not be made cost-efficiently from compound semiconductors. This prevents the use of large, eye-safe wavelengths. Such an array also requires a great deal of electrical energy, which requires expensive cooling measures.

It is an object of the present invention to obviate the need for a beam splitter in a coaxial LiDAR system 1. The system offers the stated advantages of a conventional coaxial system without its disadvantages. In addition, large and expensive detectors are unnecessary.

A core of the invention is the focusing of the receive pulse power emanating from a micromirror 63 onto a small area or point in a plane 24.

The separation of transmit path 60 and receive path 30 is by a

Ablenkoptik 62 and in particular of a fast oscillating micromirror 63 taken. The beam of the secondary light 58 is further focused by a detector optics 35, which is located directly in front of the detector array 20.

In particular, the transmitting unit, e.g. in the sense of an element 67 providing the primary light 57, and the receiving unit, e.g. in the sense of the detector arrangement 20 with a sensor element 22, arranged very close to each other.

Advantages of the invention are:

- No beam splitter is required. As a result, no reception performance is lost. The full transmission power is emitted.

- A single, small photodiode or a photodiode line or a

Photodiode array may be used in the detector assembly 20.

The ability to manage with a single receive diode (InGaAs) allows the use of large, eye-safe wavelengths, e.g. in the range of about 1550 nm, in an economical way.

On a large receiver array can be omitted. - With a suitable design of the detector optics 35, an optical zero-meter signal can be provided.

- A lens 36 of the detector optics 35 can be applied very space-saving directly to the detector.

The underlying principle is e.g. shown in FIG.

Components of the invention may be mentioned on a plane 24

Detector level to be built. This can be flat or curved. Either a printed circuit board (PCB) or a semiconductor chip are conceivable.

A time-limited laser pulse is emitted from a small area on the detector plane. The laser beam is directed via a deflection unit 62 to a point or object 52 in field of view 50 or FOV.

Additional aperture optics 70 are conceivable.

The light power reflected or diffusely scattered by the object 52 is collimated by the aperture optics 70 and directed back to the deflection optics 62 as a deflection unit.

The deflection unit 62 is e.g. a mirror 63 vibrating at least in one plane.

During the pulse transit time from the mirror 63 to the object 52 and back, the mirror position has changed slightly as the mirror 63 oscillates continuously and rapidly. The received pulse is thereby moved to a location on the

Detector plane 24 is projected, which is different from the emitter surface. A small distance of the object 52 results in a weak deflection of the receive beam, beam 72-1 in FIG. 3. A greater distance of the object 52 results in a stronger deflection, beam 72-3 in FIG.

The deflection is dependent on the oscillation frequency of the mirror 63, the distance 71 between the object 63 and the mirror 63, the distance between the detector plane 24 and the mirror 63 and possibly the aperture. Without further action, the receive beam projected onto the detector plane 24 would describe a line of possible projection locations, depending on the object distance 71.

The receiving beam of the secondary light 58 must be directed to a sensor element 22. Thus, if the above parameters were chosen for a large deflection, the projected beam would become very long and require large detectors. In the opposite case, i. when choosing the parameters for small deflections, reflections on nearby objects 52 would cause the receive beam to strike the emitter surface again and not be detected.

The introduction of detector optics 35, which is applied before or directly onto the detector module as detector arrangement 20, remedies this problem.

FIG. 3 is a lens 36 with a hemispherical lens part 37 with a cylindrical base or base 28.

FIG. 3 shows a sectional view of an axisymmetric lens 36.

Other geometries and embodiments of the detector optics 35 are conceivable.

If the lens 36 is designed accordingly, all incident rays are directed onto a very small area independently of the object distances 71 corresponding to them. The selection of the FOV section with the so

accompanying reduction of the ambient light intensity thus takes place through the micromirror 63.

FIG. 4 shows the plan view of the detector plane 24. FIG. 5 supplements FIG. 4 with an exploded view. The individual elements of FIG. 5 are superimposed on the representation in FIG. 4. The further explanation is made with reference to FIG. 5 from top to bottom.

(1) The right side, respectively, represents the case of a mirror 63 oscillating in only one plane; one-dimensional or 1-D case. The left sides deal with the case of a mirror 63, which is also in an orthogonal direction moves and deflects the beam out of the plane with y = 0; two-dimensional or 2D case. The 1D case is also approximately true if the vertical frequency is chosen to be much smaller than the horizontal frequency.

(2) In the middle is the laser aperture. Various

Embodiments thereof will be explained later.

(3) The representation of the beam movement is the totality of all possible

Projection locations of the received laser beam. Depending on the distance of the

Object 52, the receive beam is deflected more or less far. The legend on the right side breaks down the distance information using the reference numerals 72-1, 72-2, 72-3 for near, middle and long distances, respectively.

In the case of a one-dimensional deflection of the mirror 63, no deflection occurs in the y-direction. In the two-dimensional case, a deflection in the orthogonal direction will also take place (left). This illustration shows the beam positions uninfluenced by the lens.

(4) Two embodiments of lenses 36 are shown. On the left, the dome-shaped lens 36 already explained in FIG. 3, on the right a lens 36 of a similar shape, which is widened in the y-direction. The left lens 36 is able to compensate for the vertical deflection by the 2D mirror 63 as well.

A wider lens 63 could make collimation more independent of

make erroneous adjustment.

(5) The reception beam position 75 after collimation is ideally punctiform regardless of the object distance 71.

(6) The detector surface is shaped and dimensioned so that all

Receiving beams are focused independently of the object distance 71 on it.

laser aperture In the embodiment according to FIG. 6, the laser aperture is formed by a laser component, which is integrated as light source 65 in the detector plane 24. The laser can be applied as an external component to the substrate 25 (PCB / semiconductor material,

"The", "chip") are applied and connected to the substrate 25.

Optionally, the wiring can be done directly on the substrate 25. The laser can be worked out directly from the semiconductor material. However, a high level of electromagnetic interference (EMC, EMI) can be caused by high-energy circuit elements at the detector level 24.

According to Figure 7, the aperture of a mirrored surface on the

Substrate 25 consist, which is irradiated with a laser 65.

According to FIG. 8, the substrate 25 can be provided with an opening or a hole at the location of the aperture which the laser beam penetrates from the rear side.

In this case, and in the case of FIG. 7, the EMC problem is posed by a possible large distance between laser 65 and sensor element 22

bypassed. The following shows simulation results.

beam path

FIGS. 9 to 12 show the simulated beam path for individual beams (ray tracing). All rays are considered by one to be punctiform

Deflection unit 62 emitted (right). The object distance 71 is represented by 72-1 near, 72-2 middle, 72-3 remote coded.

It can be seen from Figures 11 and 12 that all the beams are focused on a small area. The principle is extendable to a larger number of lenses 26, thereby the focus points are smaller. FIGS. 9 to 12 thus show simulated beam paths for a

Single lens configuration - Figures 9 and 12 - and for a two-lens configuration

- Figures 10 and 1 1.

FIGS. 9 and 10 show that the beams of the secondary light 58 emanate from a point-shaped deflection unit 62 (right) and strike the detector plane 24 (left).

Figures 11 and 12 show the lens 26 in detail for an input and for a

Two lens configuration.

parameter

Distance between mirror 63 and detector plane 24: 3 cm or 5 cm for one lens or two lenses 36

- Aperture diameter = 100μηι, lens diameter = (1, 25 mm or 0.35 mm)

- base height = 0.9 mm or 0.3 mm)

- Mirror frequency = 30 kHz

- Lens material: polycarbonate with n = 1, 6 discussion of the minimum range

FIGS. 13 and 14 show the power incident on the sensor surface as a function of the object distance 71. The values shown are related to the power emanating from the mirror 63. The 100% missing power is deflected by the ball lens 37 at too low angle of incidence. Reception beams for very close objects 52 are not sufficiently deflected by the mirror 63 and fall back onto the laser aperture, more distant objects 52 produce beams which strike the lens 36 very flat and are thereby attenuated.

Incident rays always have a certain extent. In addition, very close targets 52 produce a very strong backscatter signal. From these For reasons, very close objects 52 can also be detected in the real case.

In addition, very strong reception signals can override the detector. In this case, attenuation of the received signal would even be advantageous.

lens shape

Shown were dome-shaped and pill-shaped lenses 37 with base 38.

The specific embodiment of the detector optics 35 can be adapted according to the application. It is important that the detector optics 35 as far as possible all the incident rays of the secondary light 58 focused on one or more small areas as possible, as punctiform.

Possible embodiments of the detector optics include:

- It is a plano-convex lens 37 with base 38 possible.

- So far, a maximum of one lens 36 and a sensor element 22 have been shown per page. It is conceivable to extend the number of lenses and detectors in the x direction in FIG. 4 (microlens array / detector row).

- In Figure, only one lens 36 was shown above the aperture. Optionally, an array of lenses in one direction is sufficient. In this case, only the oscillatory movement of the deflection unit 62 in one direction could be evaluated.

A holographic element would accomplish the deflection without a curved surface.

An asymmetrically shaped element could improve the minimum blind reach by making a shallower angle in the area of the opening

Einfallsstrahl is offered.

detector performance In Figures 15 and 16, the power incident on the detector plane 24 is plotted against the distance from the aperture, in the case of a single lens 36 (left) and for two lenses 36 (right). Again, performance is seemingly lost for very close Object 52. The power for farther objects 52 can be distributed almost arbitrarily on the detector surface by adjusting the lens geometry.

In the case of FIG. 15 for a single lens 36, the entire power is distributed over an area of approximately 600 μm in diameter.

In the case of FIG. 16 for two lenses 236, two detectors are 200 μηι

Diameter necessary.

An extension to more than two lenses 36 is possible. Increase of the pulse repetition frequency

In FIG. 13, it is indicated that rays are attenuated by very distant objects 52 and are no longer directed to the detector arrangement 20. This can be a very useful effect. Namely, in the case of conventional LiDAR systems, it is necessary to wait for a renewed scan (= emission of a laser beam) until the received pulses have also been received by very distant objects 52, which are actually beyond the specified ones

Maximum distance.

In a LiDAR system 1 according to the invention, rays from very distant objects 52 would be directed to a point in the detector plane 24 at which no sensor element 22 is located. Thus, a higher would be

Pulse repetition frequency possible, the system dynamics could be increased.

Claims

Optical arrangement (10) for a LiDAR system (1) for optical

Detecting a field of view (50), in particular for a working device or a vehicle, in which

- A receiver optics (30) and a transmitter optics (60) at least

visible field side (i) are formed with substantially coaxial optical axes and (ii) have a common deflection optics (62) and

detector detector (35) is formed on the detector side and has means for directing incident light onto a detector arrangement (20) directly via the deflection optics (62), in particular from the field of view (50).

Optical arrangement (10) according to claim 1,

wherein the deflection optics (62) is formed and has means to direct light (58) from the field of view (50) directly to the detector optics (35).

Optical arrangement (10) according to claim 1 or 2,

in which the deflecting optics (62) is designed with a mirror (63), in particular micromirrors, which can be pivoted in one or two dimensions in a controllable manner and / or oscillated.

Optical arrangement (10) according to claim 3,

in which the mirror (63) or micromirror is controllably pivotable and / or swingable

(i) in a first angular range (64-1) for irradiating primary light

(57) in the field of view (50) and

(ii) in a second angular range (64-2) for directing secondary light

(58) from the field of view (50) directly to the detector optics (35). 5. Optical arrangement (10) according to one of the preceding claims, in which the detector optics (35) in the immediate spatial

Neighborhood to a detector element (22) of the detector arrangement (20) is formed.

Optical arrangement (10) according to one of the preceding claims,

- In which the detector optics (35) comprises or forms a lens (36), in particular in the form of a hemisphere (37) or in the form of a

Combination of a vertical circular cylinder (38) and a hemisphere (37) on an end face of the circular cylinder (38),

- Wherein the detector array (20) or a sensor element (22) of the detector array (20) on a convex side of the hemisphere (37) applied side is arranged.

Optical arrangement (10) according to one of the preceding claims, wherein the detector optics (35) comprises or form a material region embedding the detector arrangement (20) or a detector element (22) of the detector arrangement (20).

Optical arrangement (10) according to one of the preceding claims, in which the detector arrangement (20) or a sensor element (22) of the detector arrangement (20) substantially at the focal point or in the

Essentially arranged in a focal plane of the detector optics (35).

Optical arrangement (10) according to one of the preceding claims, in which the detector arrangement (20) or a sensor element (22) of the detector arrangement (20) and a primary light (57) providing element (67), in particular a light source (65), in the immediate spatial proximity to each other are arranged and / or lie in a plane substantially perpendicular to detector-side optical axes of the transmitter optics (60) and / or the receiver optics (30).

Optical arrangement (10) according to one of the preceding claims, having an aperture optical system (70) which is arranged upstream of the deflection optics (62) and has a means for transmitting primary light (57) from the deflection optics (62) into the field of view (50). and direct light from the field of view (50) at the deflecting optics (62).

1 1. LiDAR system (1) for optically detecting a field of view (50), in particular for a working device or a vehicle, with an optical arrangement (10) according to one of the preceding claims.

12. working device and in particular vehicle or robot,

with a LiDAR system (1) according to claim 11 for the optical detection of a field of view (50).